version: 66.06
glider: 503
mission: 5
dive: 94
start: 4 5 110 7 34 31
data:
$ID,503
$MISSION,5
$DIVE,94
$D_SURF,3
$D_FLARE,3
$D_TGT,991
$D_ABORT,1070
$D_NO_BLEED,200
$D_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,420
$T_MISSION,480
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-3
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52098
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,3647.3999
$TGT_DEFAULT_LON,-12151.5
$TGT_AUTO_DEFAULT,0
$SM_CC,250
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,12
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-10065.354
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,203
$PITCH_MAX,3889
$C_PITCH,2700
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,37
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,2
$ROLL_MIN,187
$ROLL_MAX,3764
$ROLL_DEG,40
$C_ROLL_DIVE,1800
$C_ROLL_CLIMB,1750
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,40
$R_STBD_OVSHOOT,41
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,445
$VBD_MAX,3956
$C_VBD,2792
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,360
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-51.589809
$PRESSURE_SLOPE,0.00011732637
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,500
$ALTIM_PING_DELTA,50
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,2
$ALTIM_SENSITIVITY,4
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,83
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043281103
$SEABIRD_T_H,0.00062152545
$SEABIRD_T_I,2.1491383e-05
$SEABIRD_T_J,2.0368557e-06
$SEABIRD_C_G,-10.162479
$SEABIRD_C_H,1.1594115
$SEABIRD_C_I,4.3937558e-05
$SEABIRD_C_J,0.00011023274
$GPS1,072655,3643.870,-12206.506,39,1.2,39,14.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-72.1
$GPS2,073426,3643.797,-12206.485,14,1.6,14,14.8
$SPEED_LIMITS,0.136,0.217
$TGT_NAME,ONE
$TGT_LATLONG,3644.000,-12205.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,65.5,2236,-26.9,-7.865
$D_GRID,1341
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,13,-0.78,-44.0,0.0,0.0,0,58,0.00,0.00,-43.45,0.000,2,0.000,0.000,146,1814,2726,0,0,0,0,0,0
$GC,60,-0.78,-46.0,3.5,-7.6,8,81,8.75,2.20,-5.95,0.000,4,0.218,0.045,2432,3210,2982,0,0,0,0,0,0
$GC,321,-0.78,-46.0,51.8,-13.7,57,327,0.00,2.17,0.00,0.000,6,0.000,0.025,2432,1800,2984,0,0,0,0,0,0
$GC,647,-0.78,-46.0,100.0,-15.1,118,654,0.00,2.20,0.00,0.000,4,0.000,0.031,2421,3219,2986,0,0,0,0,0,0
$GC,856,-0.83,-46.0,132.4,-15.5,157,862,0.00,2.17,0.00,0.000,6,0.000,0.025,2421,1804,2985,0,0,0,0,0,0
$GC,1183,-0.83,-46.0,184.4,-15.6,218,1188,0.00,0.00,0.00,0.000,6,0.000,0.000,2421,1803,2986,0,0,0,0,0,0
$GC,1499,-0.83,-46.0,232.1,-15.3,258,1504,0.00,2.15,0.00,0.000,4,0.000,0.037,2421,403,2985,0,0,0,0,0,0
$GC,1611,-0.83,-46.0,249.3,-14.6,268,1619,0.00,2.10,0.00,0.000,6,0.000,0.023,2412,1816,2985,0,0,0,0,0,0
$GC,1927,-0.83,-46.0,292.0,-13.5,299,1931,0.00,2.17,0.00,0.000,4,0.000,0.036,2413,401,2985,0,0,0,0,0,0
$GC,1992,-0.79,-46.0,301.3,-15.0,305,1996,0.15,2.05,0.00,0.000,6,0.162,0.023,2447,1802,2985,0,0,0,0,0,0
$GC,2312,-0.85,-46.0,336.8,-10.6,336,2316,0.00,2.15,0.00,0.000,4,0.000,0.037,2447,406,2984,0,0,0,0,0,0
$GC,2366,-0.85,-46.0,343.0,-11.8,341,2370,0.00,2.08,0.00,0.000,6,0.000,0.024,2438,1802,2984,0,0,0,0,0,0
$GC,2685,-0.90,-46.0,380.1,-11.4,372,2690,0.00,2.12,0.00,0.000,4,0.000,0.030,2427,3197,2984,0,0,0,0,0,0
$GC,2750,-0.98,-46.0,387.4,-10.8,378,2754,0.10,2.12,0.00,0.000,6,0.046,0.025,2352,1798,2984,0,0,0,0,0,0
$GC,3071,-0.89,-46.0,438.2,-16.9,409,3072,0.20,0.00,0.00,0.000,6,0.158,0.000,2409,1797,2984,0,0,0,0,0,0
$GC,3381,-0.89,-46.0,479.3,-12.6,439,3385,0.00,2.12,0.00,0.000,4,0.000,0.038,2412,409,2984,0,0,0,0,0,0
$GC,3407,-0.89,-46.0,483.4,-15.9,441,3413,0.00,2.08,0.00,0.000,6,0.000,0.023,2404,1797,2984,0,0,0,0,0,0
$GC,3720,-0.89,-46.0,524.0,-11.8,463,3724,0.00,2.15,0.00,0.000,4,0.000,0.038,2404,401,2983,0,0,0,0,0,0
$GC,3793,-0.89,-46.0,533.4,-13.1,466,3798,0.00,2.10,0.00,0.000,6,0.000,0.023,2394,1809,2983,0,0,0,0,0,0
$GC,4110,-0.89,-46.0,570.6,-12.2,482,4114,0.00,2.10,0.00,0.000,4,0.000,0.031,2383,3194,2983,0,0,0,0,0,0
$GC,4168,-0.89,-46.0,577.8,-12.2,484,4175,0.00,2.12,0.00,0.000,6,0.000,0.025,2383,1800,2983,0,0,0,0,0,0
$GC,4478,-0.89,-46.0,615.7,-12.8,500,4483,0.00,2.15,0.00,0.000,4,0.000,0.031,2373,3190,2982,0,0,0,0,0,0
$GC,4501,-0.89,-46.0,618.4,-12.9,501,4504,0.12,2.10,0.00,0.000,6,0.166,0.027,2407,1808,2981,0,0,0,0,0,0
$GC,4826,-0.89,-46.0,654.8,-11.2,517,4830,0.00,2.15,0.00,0.000,4,0.000,0.038,2408,406,2982,0,0,0,0,0,0
$GC,4955,-0.89,-46.0,670.9,-13.4,523,4958,0.00,2.05,0.00,0.000,6,0.000,0.025,2400,1793,2981,0,0,0,0,0,0
$GC,5281,-0.89,-46.0,708.6,-11.7,539,5284,0.00,2.15,0.00,0.000,4,0.000,0.038,2400,401,2980,0,0,0,0,0,0
$GC,5338,-0.89,-46.0,716.0,-13.5,541,5345,0.00,2.10,0.00,0.000,6,0.000,0.024,2391,1806,2980,0,0,0,0,0,0
$GC,5650,-0.89,-46.0,754.5,-12.8,557,5653,0.00,2.10,0.00,0.000,4,0.000,0.038,2391,403,2980,0,0,0,0,0,0
$GC,5707,-0.84,-46.0,762.7,-14.0,559,5714,0.15,2.10,0.00,0.000,6,0.163,0.023,2428,1806,2980,0,0,0,0,0,0
$GC,6019,-0.90,-46.0,795.0,-10.1,575,6022,0.00,2.10,0.00,0.000,4,0.000,0.032,2419,3186,2979,0,0,0,0,0,0
$GC,6072,-0.99,-46.0,800.5,-10.3,577,6075,0.08,2.10,0.00,0.000,6,0.057,0.027,2351,1802,2979,0,0,0,0,0,0
$GC,6387,-0.94,-46.0,841.3,-13.0,593,6391,0.15,2.15,0.00,0.000,4,0.165,0.039,2396,403,2979,0,0,0,0,0,0
$GC,6429,-0.94,-46.0,846.6,-12.4,595,6433,0.00,2.08,0.00,0.000,6,0.000,0.024,2388,1797,2979,0,0,0,0,0,0
$GC,6755,-0.94,-46.0,882.5,-11.4,611,6759,0.00,2.15,0.00,0.000,4,0.000,0.031,2376,3208,2978,0,0,0,0,0,0
$GC,6798,-0.94,-46.0,887.5,-11.7,613,6802,0.00,2.15,0.00,0.000,6,0.000,0.028,2377,1798,2979,0,0,0,0,0,0
$GC,7124,-0.94,-46.0,927.4,-12.3,629,7128,0.00,2.15,0.00,0.000,4,0.000,0.039,2376,400,2978,0,0,0,0,0,0
$GC,7171,-0.87,-46.0,933.6,-14.3,631,7176,0.15,2.10,0.00,0.000,6,0.166,0.025,2414,1805,2978,0,0,0,0,0,0
$GC,7494,-0.92,-46.0,964.2,-9.0,647,7497,0.00,2.10,0.00,0.000,4,0.000,0.032,2405,3197,2978,0,0,0,0,0,0
$GC,7567,-0.98,-46.0,971.0,-8.5,650,7575,0.00,2.15,0.00,0.000,6,0.000,0.027,2404,1799,2978,0,0,0,0,0,0
$STATE,7795,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7795,begin apogee
$GC,7798,-0.14,0.0,992.8,9.7,662,7838,0.77,0.00,37.70,1.200,6,0.126,0.000,2656,1799,2792,0,0,0,0,0,0
$STATE,7839,end apogee,CONTROL_FINISHED_OK
$STATE,7839,begin climb
$GC,7840,0.78,46.0,993.8,0.0,664,7885,0.77,2.17,40.12,1.164,4,0.064,0.034,2952,3142,2603,0,0,0,0,0,0
$GC,8038,0.77,78.0,987.4,4.0,673,8071,0.00,2.22,28.17,1.153,6,0.000,0.031,2962,1758,2474,0,0,0,0,0,0
$GC,8385,0.77,78.0,959.9,8.7,691,8386,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,1758,2469,0,0,0,0,0,0
$GC,8690,0.77,78.0,932.3,9.0,706,8694,0.00,2.17,0.00,0.000,4,0.000,0.035,2962,3134,2467,0,0,0,0,0,0
$GC,8802,0.72,78.0,922.1,9.0,711,8807,0.12,2.20,0.00,0.000,6,0.158,0.031,2934,1740,2466,0,0,0,0,0,0
$GC,9124,0.72,81.1,898.4,7.5,727,9127,0.00,2.17,0.00,0.000,4,0.000,0.032,2934,3161,2465,0,0,0,0,0,0
$GC,9181,0.73,84.2,894.1,7.5,729,9191,0.00,2.22,5.30,0.884,6,0.000,0.030,2943,1748,2449,0,0,0,0,0,0
$GC,9513,0.73,88.3,870.9,7.4,746,9522,0.00,2.20,5.32,0.881,4,0.000,0.034,2943,3155,2432,0,0,0,0,0,0
$GC,9597,0.73,88.3,864.2,8.1,750,9602,0.00,2.20,0.00,0.000,6,0.000,0.031,2954,1752,2431,0,0,0,0,0,0
$GC,9924,0.73,88.3,838.3,8.2,766,9928,0.00,2.17,0.00,0.000,4,0.000,0.033,2954,3144,2431,0,0,0,0,0,0
$GC,10041,0.73,88.3,828.1,7.9,771,10046,0.08,2.17,0.00,0.000,6,0.167,0.030,2942,1753,2431,0,0,0,0,0,0
$GC,10358,0.73,88.3,803.3,8.1,787,10358,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,1752,2430,0,0,0,0,0,0
$GC,10662,0.73,88.3,778.1,8.2,802,10666,0.00,2.17,0.00,0.000,4,0.000,0.033,2942,3147,2430,0,0,0,0,0,0
$GC,10784,0.73,88.3,767.4,8.6,807,10791,0.00,2.20,0.00,0.000,6,0.000,0.030,2951,1742,2428,0,0,0,0,0,0
$GC,11096,0.73,88.3,740.3,8.8,823,11097,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,1742,2429,0,0,0,0,0,0
$GC,11400,0.73,88.3,715.5,8.0,838,11404,0.00,2.17,0.00,0.000,4,0.000,0.031,2950,3148,2428,0,0,0,0,0,0
$GC,11495,0.73,88.3,707.9,8.0,842,11500,0.00,2.17,0.00,0.000,6,0.000,0.029,2960,1748,2428,0,0,0,0,0,0
$GC,11812,0.75,100.6,686.0,6.4,858,11827,0.00,2.17,11.48,0.969,4,0.000,0.031,2961,3155,2381,0,0,0,0,0,0
$GC,11849,0.75,101.0,683.3,7.8,859,11853,0.08,2.17,0.00,0.000,6,0.160,0.029,2947,1755,2381,0,0,0,0,0,0
$GC,12176,0.75,102.4,658.7,7.7,875,12179,0.00,2.17,0.00,0.000,4,0.000,0.042,2957,344,2381,0,0,0,0,0,0
$GC,12212,0.75,102.4,655.6,8.4,877,12216,0.00,2.10,0.00,0.000,6,0.000,0.025,2956,1737,2380,0,0,0,0,0,0
$GC,12539,0.75,102.4,629.2,8.1,893,12542,0.00,2.17,0.00,0.000,4,0.000,0.031,2956,3155,2380,0,0,0,0,0,0
$GC,12612,0.75,102.4,622.8,8.1,896,12617,0.00,2.17,0.00,0.000,6,0.000,0.028,2967,1746,2379,0,0,0,0,0,0
$GC,12928,0.75,102.4,596.2,8.4,912,12933,0.00,2.17,0.00,0.000,4,0.000,0.030,2967,3155,2379,0,0,0,0,0,0
$GC,12959,0.75,102.4,593.6,8.2,913,12965,0.12,2.20,0.00,0.000,6,0.183,0.028,2946,1740,2379,0,0,0,0,0,0
$GC,13276,0.75,102.4,569.0,7.9,929,13280,0.00,2.12,0.00,0.000,4,0.000,0.041,2955,349,2379,0,0,0,0,0,0
$GC,13447,0.75,102.4,554.4,8.6,937,13450,0.00,2.10,0.00,0.000,6,0.000,0.025,2955,1753,2379,0,0,0,0,0,0
$GC,13773,0.76,109.1,529.8,7.1,953,13786,0.00,2.17,8.20,0.844,4,0.000,0.031,2955,3151,2347,0,0,0,0,0,0
$GC,13921,0.76,114.3,518.4,7.3,960,13930,0.00,2.17,6.12,0.776,6,0.000,0.028,2966,1746,2326,0,0,0,0,0,0
$GC,14238,0.76,114.3,491.6,8.4,980,14239,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,1746,2326,0,0,0,0,0,0
$GC,14549,0.76,114.3,468.0,8.4,1010,14553,0.00,2.15,0.00,0.000,4,0.000,0.031,2966,3139,2325,0,0,0,0,0,0
$GC,14734,0.76,114.3,451.3,9.5,1027,14742,0.12,2.17,0.00,0.000,6,0.178,0.028,2945,1746,2324,0,0,0,0,0,0
$GC,15050,0.81,117.6,425.4,7.5,1058,15063,0.00,2.20,4.30,0.640,4,0.000,0.041,2954,346,2312,0,0,0,0,0,0
$GC,15119,0.81,117.6,419.3,9.1,1064,15128,0.00,2.12,0.00,0.000,6,0.000,0.024,2954,1752,2312,0,0,0,0,0,0
$GC,15436,0.81,117.6,393.0,8.3,1095,15437,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,1752,2312,0,0,0,0,0,0
$GC,15747,0.81,117.6,365.8,9.5,1125,15750,0.00,2.12,0.00,0.000,4,0.000,0.031,2954,3155,2312,0,0,0,0,0,0
$GC,15896,0.81,117.6,350.9,10.6,1139,15900,0.00,2.17,0.00,0.000,6,0.000,0.028,2965,1743,2311,0,0,0,0,0,0
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$GC,16632,0.82,124.4,289.4,7.1,1210,16645,0.00,2.15,7.20,0.693,4,0.000,0.029,2976,3139,2286,0,0,0,0,0,0
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$GC,19648,0.92,174.7,42.0,3.9,1677,19681,0.00,0.00,28.02,0.597,6,0.000,0.000,2987,1743,2079,0,0,0,0,0,0
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$STATE,20160,end climb,SURFACE_DEPTH_REACHED
$STATE,20160,begin surface coast
$FINISH,0.3,1.025191
$STATE,20181,end surface coast,CONTROL_FINISHED_OK
$STATE,20181,begin surface
$SM_CCo,20194,30.88,0.558,0,0,1771,250.20
$SM_GC,3.26,0.00,0.00,30.88,0.000,0.000,0.558,189,1796,1771,-7.85,-0.11,250.20
$IRIDIUM_FIX,3629.60,-12208.29,300699,020241
$TT8_MAMPS,0.052923
$HUMID,53.58
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,16.00
$XPDR_PINGS,0
$24V_AH,24.1,16.313
$10V_AH,9.9,22.048
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,19.700,180.550,222.700,30.875,0.000,23.011,43.606,261.926,2.500,0.000,16.000,0.000,14676.040,440.936,4897.120,621.749,0.000,2036.302,0.000,4234.623,0.000,18.979,0.000
$DEVICE_MAMPS,217.828,45.253,1200.355,558.376,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
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$SENSOR_SECS,1235.061,3710.270,2610.908,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,246332
$DATA_FILE_SIZE,126688,1777
$CAP_FILE_SIZE,212700,0
$CFSIZE,260165632,245932032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050410,131236,3644.241,-12205.039,40,1.8,40,14.8